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Guarantees - Narrative (Details) - USD ($)
 3 Months Ended
Mar. 31, 2018
Dec. 31, 2017
Guarantees [Abstract]    
Deferred revenue included in other current and non-current liabilities $ 32,200,000 $ 29,700,000
Amount of residual value guarantees and buyback commitments given by the company 26,900,000 28,200,000
Warranty claims reserves $ 35,200,000 $ 35,200,000
Standard product warranty, low end of range (in months) 12 months  
Standard product warranty, high end of range (in months) 60 months